Teatcup supplying and retrieving device and an automatic milking apparatus therefor

ABSTRACT

A teatcup supplying and retrieving device ( 4 ) has a teatcup supplying member ( 5 ) and at least one teatcup ( 10 ) connected to a tubing ( 11 ). The teatcup is provided with a teat entry end ( 19 ) having a surface defining an inlet opening ( 20 ) for a teat. The teatcup ( 10 ) is displaceable from a first position to a second position, in which the teat entry end ( 19 ) is directed differently from that of the first position, wherein the teatcup ( 10 ) is freely displaceable in relation to the teatcup supplying member ( 5 ) during displacement between the first and second positions. The displacement is at least initiated by a displacement device ( 8 ) controlled by a controller. Furthermore, there is provided an automatic milking apparatus having a milking robot provided with a robot arm ( 3 ) to be used in conjunction with such a teatcup supplying and retrieving device ( 4 ).

TECHNICAL FIELD

The present invention relates to a teatcup supplying and retrievingdevice comprising a teatcup supplying member and at least one teatcupconnected to a tubing, said teatcup being provided with a teat entry endhaving a surface defining an inlet opening for a teat.

It also relates to an automatic milking apparatus comprising a milkingrobot arm provided with such a teatcup supplying and retrieving device.

Such a device and an apparatus are known from EP-A-0 213 660

Another such apparatus is known from WO 93/00001

OBJECT OF THE INVENTION

Milking robots provided with a teatcup supplying and retrieving devicehave been developed during the last twenty years. There are kinds known,where all the teatcups are constantly held in an upright position, suchthat the teat entry end is kept upwards, see e.g. U.S. Pat. No.4,010,714 or EP-A-0 536 837. This is disadvantageous, as dirt may fallor flow into the teatcup when kept in a storage position.

Other milking robots are provided with a teatcup supplying andretrieving device in the form of a separate washing and/or storagemagazine. in which the teat entry end is kept downwards, see e.g. EP-A-0213 660 or WO 93/00001. On fetching the teatcup, the milking robot armmust turn the teatcup such that it takes an upright position. This isalso disadvantageous, as it requires a complicated design of the milkingrobot arm.

It is, accordingly, an object of the invention to provide a teatcupsupplying and retrieving device and a milking robot, which overcomethese disadvantages.

SUMMARY OF THE INVENTION

This has been solved by a teatcup supplying and retrieving device of theinitial defined kind, wherein said teatcup is displaceable from a firstposition to a second position, in which said teat entry end is directeddifferently from that of the first position, wherein said teatcup isfreely displaceable in relation to said teatcup supplying member duringdisplacement between said first and second positions, said displacementbeing at least initiated by a displacement means controlled by a controlmeans.

It has also been solved by milking robot of the initial defined kind,wherein the milking robot arm is adapted to fetch at least one teatcupfrom said teatcup supplying member, the teatcup being at its secondposition, and to attach it onto a teat of an animal.

Hereby, it is made possible to store the teatcups in a position suchthat the teat entry end is kept in a direction other than upwards, i.e.the risk is less for contamination of the interior of the teatcup.

Preferably, said teat entry end is directed substantially downwards insaid first position. Furthermore, it is preferred that said teat entryend is directed substantially upwards in said second position. Hereby isachieved that the teatcup can be fetched by the robot arm, while theteatcup is in an upright position, which allows for a simple design ofthe robot arm, which in turn reduces the manufacturing costs therefor.

Suitably, said teatcup supplying member comprises a displacementlimiting means for limiting the movement of the teatcup. Hereby, aturning area is defined.

Preferably, said displacement limiting means comprises a stop member atsaid first position. Hereby, a turning point is defined.

Suitably, said movement limiting means comprises a guide means adaptedto guide said teatcup towards said first position. Furthermore, saidguide means comprises a pair of substantially parallel guide members.

Preferably, said tubing is allowed to extend between and through saidpair of guide members during displacement of the teatcup between saidfirst and second positions. Hereby, turning of the teatcup including thetubing is facilitated.

Suitably, said guide members are inclined in relation to the horizontalplane, and are arranged to allow said teatcup to perform a slidingmovement along an upper surface of said guide members. Hereby isachieved that the teatcup is allowed to slide along the guide memberstowards said stop member.

Preferably, said guide members are arranged to allow said teatcup toperform a sliding movement along a lower surface of said guide members.Hereby, a guidance is achieved during teatcup retrieval.

Preferably, said teatcup comprises a flange means adapted to be incontact with said displacement limiting means while being displacedbetween said first and second positions. Hereby, a turning axis isdefined.

Said flange means comprises at least one flange member forming asubstantially annular flange. This allows for easy manufacturing.

Preferably, said tubing is associated with said displacement means.Hereby, displacement of the teatcup may be performed by displacing thetubing.

Suitably, said teatcup is displaceable between said first and secondpositions by means of a tubing linking means connectible to saiddisplacement means, which linking means is arranged between the ends ofsaid tubing, said tubing being connected, at its end opposite to the endconnected to the teatcup, to a milk line connection point, movement ofsaid linking means substantially towards said fluid connection pointcausing the teatcup to be displaced downwards. Displacement of theteatcup is thus achieved with less risk for disturbance.

Preferably, said tubing linking means comprises a pulley, about whichsaid tubing is adapted to run. Hereby, a smooth displacement of thetubing and the teatcup is achieved.

Preferably, a disengagement of an engagement member of said displacementmeans causes gravity to displace said teatcup. Hereby, displacement ofthe teatcup may be performed without use of external power.

Alternatively, operation of a driving means of said displacement meanscauses displacement of said teatcup, said operation being controlled bysaid control means. Hereby, a controlled displacement of the teatcup maybe performed with external power.

In order to perform said controlled displacement, said driving meanscomprises a pneumatic cylinder or a pneumatic vane motor.

Preferably, said teatcup is displaceable from an upper position to aposition located substantially below therefrom, e.g. to said firstposition. Hereby is achieved a possibility of moving the teatcup frome.g. a storage place or a washing rack.

Suitably, said teatcup is adapted to be retrieved to said upper positionby means of said displacement means after a signal from said controlmeans. The signal may be initiated manually by pressing a push button,or automatically by e.g. a sensor sensing a ceasing milk flow, such as amilk flow sensor of a temperature sensor.

The automatic milking apparatus further comprises a milking stalldefining an animal space for receiving at least one animal, and amilking robot arranged at a longitudinal side of said milking stall insuch a way that a robot arm of said milking robot is allowed to moveinto said animal space, said teatcup supplying and retrieving devicebeing arranged at the same longitudinal side of the milking stall as themilking robot. Hereby easy fetching of the teatcups by the milking robotarm is achieved.

DRAWING SUMMARY

The invention will now be described in more detail with reference to theaccompanying drawings, in which

FIGS. 1A and 1B are perspective views of an automatic milking apparatuscomprising a teatcup supplying and retrieving device,

FIG. 2A is a cross-section through the teatcup supplying and retrievingdevice comprising a driving means,

FIG. 2B shows the same device as in FIG. 2A with an alternative drivingmeans,

FIGS. 3A to 3D illustrate the principle of turning of a teatcup bygravity,

FIGS. 4A to 4F illustrate turning of a teatcup in the teatcup supplyingand retrieving device according to the invention,

FIG. 5 illustrates a teatcup in a supply position, as seen from the sideand from underneath,

FIG. 6 is a front view. of the teatcup supplying and retrieving deviceaccording to the invention,

FIG. 7 illustrates a teatcup attached to a teat,

FIG. 8A illustrates retraction of a teatcup,

FIG. 8B illustrates the position of a teatcup during rinsing thereof,and

FIG. 9 shows a milking stall from above.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1A illustrates a cow to be milked by an automatic milking apparatus1, comprising a milking robot 2 with a robot arm 3 provided with agripper 3 a. Bars to protect and suspend the equipment and to form amilking stall have been omitted for better understanding of theapparatus. The automatic milking apparatus 1 furthermore comprises ateatcup supplying and retrieving device 4 provided with four teatcupsupplying members 5. Please refer to FIG. 1B for a magnification.

Each teatcup supplying member is provided with a pulley 6. Each pulley 6is connected by a cord 7 to a driving means 8 in the form of a pneumaticcylinder or an air spring, via a link roll 8 a, which in turn isconnected to a source of pressure or vacuum (not shown). Duringoperation of the cylinder 7, the pulley 6 is caused to move upwards ordownwards in a guide member 9 of the teatcup supplying member 5.

A teatcup 10 connected to a tubing 11, consisting of a milk tube and apulsation tube, is arranged in each teatcup supplying member 5. Thetubing 11 is arranged to run over the pulley 6.

The teatcup 10 is provided with an annular flange 12, which is adaptedto interact with a pair of flanges 13. During turning of the teatcup 10,the tubing 11 is allowed to extend through an opening between theflanges 13, for forming a smooth curve.

A guide roller 14 is provided to guide the tubing during attachment of ateatcup 10 onto a teat of the cow and subsequent detachment thereof, inorder to avoid wear of the tubing against edges.

FIG. 2A illustrates how the tubing 11 is connected at one end to theteatcup 10, runs over the pulley 6 and is connected at its opposite endto a fluid connection point 15 in the form of a pair of nipples (notshown), which in turn connect to a milk line and a vacuum line,respectively (not shown).

The cord 7 is moved over the link roll 8 a by a piston in the pneumaticcylinder 8.

FIG. 2B illustrates the use of an alternative driving means 8, namely apneumatic vane motor as disclosed in WO 95/07607, which mayalternatively be driven by air under pressure.

It should be noted that for causing the pulley 6 to move downwards, itis not needed to actively drive the driving means. On the contrary, itis possible to disengage the motor by e.g. allowing atmospheric air tobe introduced into the working chambers on each side of the piston ofthe pneumatic cylinder. Regarding the vane motor, reference is made toWO 95/07607.

In FIGS. 3A to 3D, the principle of turning of a teatcup about a pair ofhorizontal flanges 13 is shown.

FIG. 3A illustrates a teatcup supported on its annular flange 12 on thepair of flanges 13, of which only one is shown for clarity reasons.

FIG. 3B illustrates how the tubing bends when it is slackened, whichcauses the teatcup to turn about the annular flange 12 resting on thepair of flanges 13, due to gravity acting on the tubing and the teatcup.Further slackening of the tubing will cause the teatcup 12 to turn evenfurther (FIG. 3C).

FIG. 3D shows the teatcup 10, when completely turned.

FIGS. 4A to 4F illustrate the principle of turning of the teatcup 10about the pair of flanges 13 of the teatcup supplying and retrievingdevice 4 according to the invention.

In FIG. 4A, the teatcup is in its retracted position.

In FIG. 4B, the teatcup rests and slides against an inclined portion 16of the pair of flanges 13.

In FIG. 4C, the teatcup 10 rests on its annular flange 12 against ahorizontal portion 17 and a vertical portion 18 of the pair of flanges13, which both form a stop member for preventing further downward orsideward movement of the teatcup 10, so that a rotational movement canbe initiated. A teat entry end 19 of the teatcup 10 is directeddownwards.

In FIG. 4D, a rotational movement of the teatcup 10 has been initiated,so that the teat entry end 19 is inclined downwards. In FIG. 4E, theteatcup has performed a further rotation, the teat entry end 19 beinginclined upwards, and in FIG. 4F, the teatcup 10 the teatcup has turnedcompletely to a state where the annular flange 12 rests against the pairof flanges 13. In this position, the teat entry end 19 is directedupwards.

In FIG. 5, the position of the teatcup 10 in the teatcup supplyingmember 5 according to FIG. 4C is shown for sake of clarity.Consequently, the figure illustrates the teatcup 10 resting on itsannular flange 12 on said pair of flanges 13. In the surface of the teatentry end 19, there is formed an opening 20 for insertion of a teat tobe milked.

Turning now to FIG. 6, the turning of teatcups 10 is shown in connectionwith a front view of the teatcup supplying and retrieving device 4.

Starting from the leftmost teatcup supplying member 5, the teatcup 10 isin its retracted position.

In the teatcup supplying member 5 second from the left, operation of thedriving means 8 has cased the cord 7 and the pulley 6 to move downwards.The tubing 11 has run over the pulley 6 due to gravity acting on thetubing 11 and the teatcup 10. The teatcup rests against a part of thepair of flanges 13 that is inclined 16 (cf FIG. 4B).

In the teatcup supplying member 5 second from the right, operation ofthe driving means 8 has caused the teatcup 10 to turn such that the teatentry end is directed horizontally, as the annular flange 12 of theteatcup 10 prevents further downward movement of the teatcup. As theteatcup cannot move further, the tubing 11 is forced to bend, as shownin FIGS. 1B and 4E, respectively, which in turn causes the teatcup 10 toturn.

In the rightmost teatcup supplying member 5, operation of the drivingmeans 8 has caused the teatcup 10 to turn to a state where the annularflange 12 of the teatcup rests against the pair of flanges 13 and theteat entry end is directed upwards.

FIG. 7 illustrates a teatcup 10 attached onto a teat of the cow. Theguide roller 14 guides the tubing 11 to take a desired curved form, andto prevent it from being bent, which could stop flow through the tubing.

The guide roller 14 also guides the tubing 11 during detachment of theteatcup 10 from the teat to safely move into the member 5.

FIG. 8A illustrates the movement of the teatcup during retraction of theteatcup after detachment from the teat, which is performed by operationof the driving means 8, so that the pulley 6 is pulled upwards, causingthe tubing 11 and the teatcup 10 to be retracted. Due to the pair offlanges 13 of the teatcup supplying member 5 and the annular flange 12of the teatcup 10, the teatcup will slide against the horizontal portion17 and upwardly (see arrow) along the inclined portion 16 thereof as thetubing 11 is retracted by the pulley 6, until the teatcup has passed thepair of flanges 13 (indicated by broken lines). Thereafter, the teatcupwill move to the right (cf. FIG. 4A), depending on the horizontalposition of the pulley 6.

After retraction, it may, be suitable to lower the teatcup 10 again intothe position shown in FIG. 8B, in which position the interior of thetubing 11 and the teatcup 10 is cleaned by flushing a rinsing agent andwater therethrough, to be let out through the opening 20 of the teatcup.

In FIG. 9, a milking stall 21 having front gate means 22 and rear gatemeans 23 is shown from above. The teatcup supplying and retrievingdevice 4 is arranged on a longitudinal bar 24 running along said milkingstall 21.

OPERATION

A cow to be milked is identified by e.g. a transponder (not shown). Ifshe is allowed to be milked, she is let into the milking stall 21through the rear gate means 23. When the cow has entered the stall, theteatcup supplying and retrieving device 4 starts to move a teatcup 10downwards in the sequence shown in FIGS. 4A to 4F in order to turn it.

The gripper 3 a of the robot arm 3 fetches the teatcup 10 from theteatcup supplying member 5 when in the position shown in FIG. 4F. Theteatcup 10 is lifted over the vertical portion 18 of the pair of flanges13 by the robot arm 3. The robot arm moves the teatcup towards aselected teat by a teatcup locating device not shown, but may be bymeans of a laser sensor, an ultrasonic sensor, a vision system or thelike.

The milk tube is connected to vacuum so that the teatcup can be attachedto the teat (cf FIG. 7). The pulsation tube is connected to a pulsatingvacuum for allowing a pulsating milk extraction to be started.

This sequence is repeated for the remaining three teatcups until each ofthem has been attached to a suitable teat, unless it should not bemilked due to e.g. infection.

After performed milling, a suitable sensor, such as a milk flow sensor,is used for sensing a ceasing milk flow. When a control means hasestablished end of milking outgoing from a signal from the sensor, thecontrol means controls the driving means 8 to pull the pulley 6 forretracting the teatcup.

The teatcup is lowered into the position shown in FIG. 8B for rinsingthe interior of the tubing 11 and the teatcup 10. The liquid is flusheddown to the floor provided e.g. with a drain.

After rinsing is finished, the teatcup is retracted to the positionshown in FIG. 4A and the cow is let out from the stall 21 by opening thefront gate means 22.

The automatic milking apparatus is now ready to milk another cow.

Of course, pre-treatment and after-treatment of the teats, such ascleaning, iodine-spraying, massage and premilking, may be performedbefore and/or after attachment of the teatcups, which treatments areperformed by moving a suitable equipment to the teats by means of therobot arm.

If it is desired to attach the teatcups 10 manually—which may be thecase if the teatcup and supplying and retrieving apparatus 4 is usedwithout the milking robot 3, or in case of a malfunction of the milkingrobot 3—a push-button is pressed to activate the driving means 8, eitherone at a time or all of them simultaneously. The teatcups will be putinto the position shown in FIG. 4F, where they are easy to fetch byhand. The teatcups are then attached to the teats of the cow by a dairymaid, instead of by the robot arm 3.

After milking is finished, the teatcups will be automatically detachedand retracted, as above.

Wherever reference has been made to a cow, it should be interpreted asalso including any milk animal, such as a sheep, a goat, a horse or abuffalo.

What is claimed is:
 1. A teatcup supplying and retrieving devicecomprising a teatcup supplying member and at least one teatcup connectedto a tubing, said teatcup being provided with a teat entry end having asurface defining an inlet opening for a teat, characterized in that saidteatcup supplying member forms a storage magazine for said teatcupbefore or after said teatcup is attached to a teat of an animal, andsaid teatcup is displaceable from a first position to a second position,in which said teat entry end is directed differently from that of thefirst position, wherein said teatcup is freely displaceable in relationto said teatcup supplying member during displacement between said firstand second positions utilizing said teatcup supplying member, saiddisplacement being at least initiated by a displacement means controlledby a control means.
 2. A teatcup supplying and retrieving deviceaccording to claim 1, wherein said teat entry end is directedsubstantially downwards in said first position.
 3. A teatcup supplyingand retrieving device according to claim 2, wherein: said teat entry endis directed substantially upwards in said second position; said teatcupsupplying member comprises a displacement limiting means for limitingthe movement of the teatcup; said displacement limiting means comprisesa stop member at said first position; said displacement limiting meanscomprises a guide means adapted to guide said teatcup towards said firstposition; said guide means comprises a pair of substantially parallelguide members; said tubing is allowed to extend between and through saidpair of guide members during displacement of the teatcup between saidfirst and second positions; said guide members are inclined in relationto the horizontal plane, and are arranged to allow said teatcup toperform a sliding movement along a lower surface of said guide members;said teatcup comprises a flange means adapted to be in contact with saiddisplacement limiting means while being displaced between said first andsecond positions; said flange means comprises at least one flange memberforming a substantially annular flange; said tubing is associated withsaid displacement means.
 4. A teatcup supplying and retrieving deviceaccording to claim 3, wherein: said teatcup is displaceable between saidfirst and second positions by means of a tubing linking meansconnectable to said displacement means, which linking means is arrangedbetween the ends of said tubing, said tubing being connected, at its endopposite to the end connected to the teatcup, to a fluid connectionpoint, movement of said linking means substantially towards said fluidconnection point causing the teatcup to be displaced downwards; saidtubing linking means comprises a pulley, about which said tubing isadapted to run; disengagement of said displacement means causes gravityto displace said teatcup; operation of a driving means of saiddisplacement means causes displacement of said teatcup, said operationbeing controlled by said control means; said driving means comprises apneumatic cylinder; said driving means comprises a pneumatic vane motor;said teatcup is displaceable from an upper position to a positionlocated substantially below therefrom; said teatcup is adapted to beretrieved to said upper position by means of said displacement meansafter a signal from said control means.
 5. An automatic milkingapparatus comprising a milking robot provided with a robot arm and ateatcup supplying and retireving device according to claim 4,characterised in that: the milking robot arm is adapted to fetch atleast one teatcup from said teatcup supplying member, the teatcup beingat its second position, and to attach it onto a teat of an animal; andit further comprises a milking stall defining an animal space forreceiving at least one animal, said milking robot being arranged at alongitudinal side of said milking stall in such a way that the robot armis allowed to move into said animal space, said teatcup supplying andretrieving device being arranged at the same longitudinal side of themilking stall as the milking robot.
 6. A teatcup supplying andretrieving device according to claim 1, wherein said teat entry end isdirected substantially upwards in said second position.
 7. A teatcupsupplying and retrieving device according to claim 1, wherein saidteatcup supplying member comprises a displacement limiting means forlimiting the movement of the teatcup.
 8. A teatcup supplying andretrieving device according to claim 7, wherein said displacementlimiting means comprises a stop member at said first position.
 9. Ateatcup supplying and retrieving device according to claim 7, whereinsaid displacement limiting means comprises a guide means adapted toguide said teatcup towards said first position.
 10. A teatcup supplyingand retrieving device according to claim 9, wherein said guide meanscomprises a pair of substantially parallel guide members.
 11. A teatcupsupplying and retrieving device according to claim 10, wherein saidtubing is allowed to extend between and through said pair of guidemembers during displacement of the teatcup between said first and secondpositions.
 12. A teatcup supplying and retrieving device according toclaim 10, wherein said guide members are inclined in relation to thehorizontal plane, and are arranged to allow said teatcup to perform asliding movement along an upper surface of said guide members.
 13. Ateatcup supplying and retrieving device according to claim 12, whereinsaid guide members are arranged to allow said teatcup to perform asliding movement along a lower surface of said guide members.
 14. Ateatcup supplying and retrieving device according to claim 7, whereinsaid teatcup comprises a flange means adapted to be in contact with saiddisplacement limiting means while being displaced between said first andsecond positions.
 15. A teatcup supplying and retrieving deviceaccording to claim 14, wherein said flange means comprises at least oneflange member forming a substantially annular flange.
 16. A teatcupsupplying and retrieving device according to claim 1, wherein saidtubing is associated with said displacement means.
 17. A teatcupsupplying and retrieving device according to claim 1, wherein saidteatcup is displaceable between said first and second positions by meansof a tubing linking means connectible to said displacement means, whichlinking means is arranged between the ends of said tubing, said tubingbeing connected, at its end opposite to the end connected to theteatcup, to a fluid connection point, movement of said linking meanssubstantially towards said fluid connection point causing the teatcup tobe displaced downwards.
 18. A teatcup supplying and retrieving deviceaccording to claim 17, wherein said tubing linking means comprises apulley, about which said tubing is adapted to run.
 19. A teatcupsupplying and retrieving device according to claim 1, whereindisengagement of said displacement means causes gravity to displace saidteatcup.
 20. A teatcup supplying and retrieving device according toclaim 1, wherein operation of a driving means of said displacement meanscauses displacement of said teatcup, said operation being controlled bysaid control means.
 21. A teatcup supplying and retrieving deviceaccording to claim 20, wherein said driving means comprises a pneumaticcylinder.
 22. A teatcup supplying and retrieving device according toclaim 21, wherein said driving means comprises a pneumatic vane motor.23. A teatcup supplying and retrieving device according to claim 1,wherein said teatcup is displaceable from an upper position to aposition located substantially below therefrom.
 24. A teatcup supplyingand retrieving device according to claim 23, wherein said teatcup isadapted to be retrieved to said upper position by means of saiddisplacement means after a signal from said control means.
 25. A teatcupsupplying and retrieving device according to claim 23, wherein saidposition located substantially below said upper position comprises saidfirst position.
 26. An automatic milking apparatus comprising a milkingrobot provided with a robot arm and a teatcup supplying and retrievingdevice according to claim 1, characterised in that the milking robot armis adapted to fetch at least one teatcup from said teatcup supplyingmember, the teatcup being at its second position, and to attach it ontoa teat of an animal.
 27. An automatic milking apparatus according toclaim 26, wherein it further comprises a milking stall defining ananimal space for receiving at least one animal, said milking robot beingarranged at a longitudinal side of said milking stall in such a way thatthe robot arm is allowed to move into said animal space, said teatcupsupplying and retrieving device being arranged at the same longitudinalside of the milking stall as the milking robot.
 28. A teatcup supplyingand retrieving device comprising: at least one teatcup and tubingconnected to the teatcup, the teatcup having a teat entry end having asurface defining an inlet opening for a teat; and a teatcup supplyingmember comprising: a teatcup storage magazine disposed to store theteatcup in a first position, a guide assembly, the teatcup being freelydisplaceable along the guide assembly from the first position to asecond position in which the teat entry end is directed differently fromwhen the teatcup is in the first position, and a displacement initiatoroperative to initiate displacement of the teatcup from the firstposition to the second position.
 29. The teatcup supplying andretrieving device of claim 28, wherein the teat entry end is directedsubstantially downwards in the first position.
 30. The teatcup supplyingand retrieving device of claim 28, wherein the teat entry end isdirected substantially upwards in the second position.
 31. The teatcupsupplying and retrieving device of claim 28, wherein the guide assemblycomprises a pair of guide members configured to guide the teatcupbetween the first position and the second position.
 32. The teatcupsupplying and retrieving device of claim 28, wherein the guide assemblycomprises a pair of guide members having a surface inclined from ahorizontal plane and configured to allow the teatcup to slide along theinclined surface.
 33. The teatcup supplying and retrieving device ofclaim 32, wherein the guide assembly further comprises a stop member atthe first position.
 34. The teatcup supplying and retrieving device ofclaim 32, wherein the teatcup further comprises a flange adapted tocontact the inclined surface.
 35. The teatcup supplying and retrievingdevice of claim 32, wherein the tubing extends between and through thepair of guide members during displacement of the teatcup between thefirst and second positions.
 36. The teatcup supplying and retrievingdevice of claim 35, wherein the displacement initiator is connectable tothe tubing to initiate displacement of the teatcup.
 37. The teatcupsupplying and retrieving device of claim 28, wherein the displacementinitiator is operative to disengage to allow gravity to displace theteatcup.
 38. The teatcup supplying and retrieving device of claim 28,wherein the displacement initiator includes a driver operative to causedisplacement of the teatcup.
 39. The teatcup supplying and retrievingdevice of claim 28, further comprising a controller in operativecommunication with the displacement initiator.